Four-branch-chain two-dimensional translation and one-dimensional rotation freedom parallel mechanical arm

Abstract

The invention discloses a four-branch-chain two-dimensional translation and one-dimensional rotation freedom parallel mechanical arm. The mechanical arm comprises a fixing frame, a motion platform and four motion branch chains, wherein the four motion branch chains are symmetrically arranged between the fixing frame and the motion platform and have the same structure; a pair of synchronous belt wheels which are crossly connected through a cog belt are fixedly connected to two opposite near frame rods; the motion platform comprises four gear handles, four helical sectors, two helical gears, a base and an end effecter; the end effecter is rotatably hinged with the base; the rotation directions of the two helical gears are opposite, and the two helical gears are coaxially fixed with the end effecter; the four gear handles mutually form 90 degrees and rotatably connected with the base respectively through a rotation shaft; and when the branch chains are driven to move by corresponding driving devices, the two-dimensional translation in a plane and the one-dimensional rotation relative to the base of the end effecter can be achieved.

Description

technical field [0001] The invention relates to a parallel robot, in particular to a parallel manipulator with two-dimensional translation and one-dimensional rotation degrees of freedom. Background technique [0002] Patent documents US 7090458 B2 and ZL 01154160.2 disclose a parallel mechanism capable of realizing two degrees of freedom in a plane, including a driving device, a frame, a moving platform and two pairs of branch chains. Two servo motors are installed on the frame, and the moving platform is connected with the frame through two branch chains to form a parallel closed-loop structure. Each of the two branch chains contains two parallelogram mechanisms, which are respectively used as a driving rod group and a driven rod group, and the moving parts are completely connected by rotating hinges. The parallelogram branch chain structure is used to realize the two-dimensional translation of the moving platform. The limitations of the above mechanism are: each branch ...

AI Technical Summary

Problems solved by technology

The limitations of the above mechanism are: each branch chain of the mechanism contains two sets of parallelogram mechanisms, and the structure is complex; all moving components are in the same plane or parallel to the plane, and the stiffness in the normal direction of the plane is relatively poor

[0003] In actual engineering, there are some occasions that require the mechanism-driven platform to have a certain attitude adjustment capability on the basis of realizing two-dimensional translation, but the above-mentioned mechanism cannot meet this requirement

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